This is my FAVORITE recipe that I snagged from AllRecipes. I've changed things a bit...but the flavor is incredible! I've cooked this on the grill (in a grill basket lined with foil so as not to lose any of the incredible sauce!), on the stovetop and in the oven. Oven and grill are by far the best methods. I serve this over white rice and the flavor is super!! I usually use dried rosemary, but fresh is best! I also cut the sugar in half and use low fat ranch. I also completely omit the salt since I don't feel it needs it. My kids have been eating this since they were 19 months old! When I bake these in the oven I bake them on 450 degrees for about 20-30 minutes. Lean toward 20 so as not to overcook. YUM!